CN105563502B - A kind of control method of the clamping device, hand behaviour's equipment and clamping device and hand behaviour's equipment of power/position mixing Shared control - Google Patents
A kind of control method of the clamping device, hand behaviour's equipment and clamping device and hand behaviour's equipment of power/position mixing Shared control Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000006073 displacement reaction Methods 0.000 claims abstract description 69
- 239000006247 magnetic powder Substances 0.000 claims abstract description 61
- 238000013016 damping Methods 0.000 claims abstract description 55
- 229920002379 silicone rubber Polymers 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
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- 238000006243 chemical reaction Methods 0.000 claims description 3
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- 230000008859 change Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000011549 displacement method Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 230000001066 destructive effect Effects 0.000 description 2
- 230000014759 maintenance of location Effects 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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Abstract
The control method of the clamping device, hand behaviour's equipment and clamping device and hand behaviour's equipment of a kind of power/position mixing Shared control, is related to the power/position mixing Shared control clamping technique with remote control force feedback hand behaviour.Purpose is to adapt to the growth requirement of industrial robot.When operating personnel rotate the handwheel of hand behaviour's equipment, No. two encoders record the rotation displacements of handwheel, and rotation displacement signal is sent in a processor of clamping device as clip position instruction by fieldbus.A number processor control V-type locating clip gripping arm moves to the location of instruction.Meanwhile, also by fieldbus be sent in No. two processors of manual handling equipment pressure information by a processor.No. two processors adjust the driving current of magnetic powder brake according to pressure information, and then adjust the damping torque on operation handwheel.The present invention has remote operation function, and teleoperator can perceive the size of chucking power, it is adaptable to which the overwhelming majority needs the application scenario of the accurate flexible clamping of remote control.
Description
Technical field
The present invention relates to the power/position mixing Shared control clamping technique grasped with remote control force feedback hand, belong to intelligence machine
People's automatic field.
Background technology
Clamping device is important end effector mechanism of the industrial robot when object is captured.Many industry spots need folder
During holder crawl object, the interaction between being related to clamper and being grabbed object, the displacement of clamping limb and clamping limb with grabbed
Contact force between material is the important indicator of clamping process control, and it determines whether robot can be to not being grabbed thing destruction
Under the premise of effectively crawl object.Due to the consideration of special operation condition and safe operation, it is long-range that some occasions need clamping device to have
Operating function, while needing the teleoperator can to perceive the size of chucking power.
The content of the invention
A kind of growth requirement the invention aims to adapt to industrial robot, there is provided power/position mixing Shared control
Clamping device, hand behaviour's equipment and clamping device and hand grasp the control method of equipment.
A kind of clamping device of power of the present invention/position mixing Shared control include base plate 1, electric machine support 2, motor 3,
Number encoder 4, decelerator 5, slide unit 6,7, two V-type locating clip gripping arms 8 of reverse-flighted screw, 10, processor of screw bracket,
12, difference/Transistor-Transistor Logic level change-over circuit of drive circuit and signal conditioning circuit；
Electric machine support 2 is used to for motor 3 to be fixed on base plate 1, and screw bracket 10 is used to for reverse-flighted screw 7 to be fixed on base plate
On 1, and reverse-flighted screw 7 can be rotatable around its axis, and motor 3 is used to drive reverse-flighted screw 7 to rotate by decelerator 5；
Slide unit 6 is fixed on base plate 1, and the upper surface of slide unit 6 sets fluted, the length direction of the groove and two-way spiral shell
The diameter parallel of bar 7；Two V-type locating clip gripping arms 8 are oppositely arranged, and the clamping face of each V-type locating clip gripping arm 8 is provided with silicon
Rubber is mounted in layer 9, and one of silicon rubber attachment layer 9 and is embedded with pressure sensor；Two V-type locating clip gripping arms 8 respectively with
The two ends threaded connection of reverse-flighted screw 7, the bottom of two V-type locating clip gripping arms 8 is respectively positioned in the groove on slide unit 6, and can
Moved along the length direction of the groove；
A number control signal output for processor connects the control signal input of motor 3, one by drive circuit 12
Number encoder 4 is used to detect the angular displacement of the output shaft of motor 3, and a signal output part for encoder 4 passes through a difference/TTL
Level shifting circuit connects a motor angular displacement signal input for processor, and the CAN interface of a processor is used for
Receiving position instructs and sends force feedback signal, and the detection signal output end of pressure sensor is connected by signal conditioning circuit
A number chucking power feedback signal input terminal for processor.
The hand behaviour's equipment being engaged with above-mentioned clamping device includes handwheel 15, No. two encoders 16, magnetic powder brakes 19, tooth
Shape band 20, No. three gear 22, two of gear 21, four processors, No. two difference/Transistor-Transistor Logic level change-over circuits, H bridge drivers 25
And Hall current sensor；
No. three gears 21 are fixed in the rotating shaft of handwheel 15, and No. four gears 22 are fixed on magnetic powder brake 19, No. four teeth
Wheel 22 is used to drive No. three gears 21 to rotate by cog belt 20；
No. two processor No. two encoders 16 are used to detect the angular displacement of the rotating shaft of handwheel 15, No. two signals of encoder 16
Output end connects No. two handwheel angular displacement signal inputs of processor by No. two difference/Transistor-Transistor Logic level change-over circuit, at No. two
The control signal output for managing device connects the control signal input of magnetic powder brake 19, Hall current by H bridge drivers 25
Sensor is used to detect the driving current of magnetic powder brake 19, the current detection signal output end connection two of Hall current sensor
The current feedback signal input of number processor, No. two CAN interfaces of processor are used to send position command and reception
Force feedback signal.
The control method of above-mentioned clamping device realizes that methods described includes following by the software being embedded in a processor
Step：
Position command receiving step：Receiving position is instructed；
Pressure acquisition step：The pressure signal that collection pressure sensor is sent；
Pressure signal forwarding step：The pressure signal that pressure sensor is sent is sent to hand behaviour's equipment；
Force feedback equivalent displacement obtains step：The pressure signal that will be collected using power/displacement transfer function is converted to power
Feedback equivalent displacement；
Clamping limb current location obtains step：The signal that a number encoder 4 is sent is converted into clamping limb present bit confidence
Breath；
Offset deviation calculation procedure：Calculate offset deviation, the offset deviation=position command-force feedback equivalent bit
Shifting-clamping limb current location；
Motor control signal forwarding step：The offset deviation is turned using closed loop control algorithm (such as pid control algorithm)
Motor control signal is changed to, and the motor control signal is sent to drive circuit 12.
The control method of above-mentioned hand behaviour equipment realizes that methods described includes following by the software being embedded in No. two processors
Step：
Position command forwarding step：The signal that No. two encoders 16 are sent is converted into two positions of V-type locating clip gripping arm 8
Instruction is put, and the position command is sent to clamping device；
Pressure signal receiving step：The pressure signal that receiving and clamping device is sent, the pressure signal is damping torque
Instruction；
Equivalent damping torque obtains step：The current signal that collection Hall current sensor is sent, and according to magnetic powders brake
The current signal is converted to equivalent damping torque by the electric current of device 19-damping torque relation curve；
Torque deviation calculation procedure：Calculate torque drift gage, the torque deviation meter=damping torque instruction-equivalent resistance
Buddhist nun's torque；
Magnetic powder brake control signal forwarding step：Using closed loop control algorithm (such as pid control algorithm) by the torque
Deviation is converted to magnetic powder brake control signal, and the magnetic powder brake control signal is sent into H bridge drivers 25.
The system that clamping device of the present invention is constituted with manual handling equipment, can be in remote grip object process
The middle function of imitating staff, realizes the Shared control of clamping process.
Above-mentioned clamping device has simple compact mechanical structure, and V-type positioning flexible clamping limb completes soft from structural point
Property clamping and without prestressed pressure feedback；Reverse-flighted screw drives makes driving have auto-lock function；Pressure sensor signal except
There is provided outside force feedback signal to clamping control end, remote operation end is also transferred to by fieldbus, damped as actuation means
Control instruction.The control method of clamping device realizes the V-type accurate Shared control of positioning flexible clamping limb using closed loop control algorithm.
Above-mentioned hand behaviour equipment uses magnetic powder brake as the executing agency for producing adaptive damping, to prevent damping force excessive
And slippage speed is too low discontinuous to the torque that causes, the present invention uses gear between handwheel and magnetic powder brake input shaft
Belt transmission structure, by adjusting the flatness that gearratio improves the output damping torque of magnetic powder brake.It is anti-with electric machinery power
Feedback performs device is compared, and magnetic powder brake is damping device, will not produce opposing torque, and resistance can be realized by adjusting exciting curent
The continuously adjustabe of Buddhist nun's torque；According to site pressure signal, closed loop adjusts the output of magnetic powder brake to the control method of hand behaviour's equipment
Electric current, and then damping torque is controlled, allow an operator to be perceived in remote control terminal the clamp pressure state at scene.
The present invention is simple and convenient with operating, controlling, excellent without providing the auxiliary bodies such as silk cylinder, steel wire, rotating disk, spring etc.
Point, with remote operation function, and teleoperator can perceive the size of chucking power, it is adaptable to which the overwhelming majority needs long-range control
The application scenario of the accurate flexible clamping of system.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the system that the clamping device in implementation method one is constituted with manual handling equipment,
It is the electric part in clamping device that wherein clamping controls circuit, and manual control circuit is the electric part in hand behaviour's equipment；
Fig. 2 is the mechanical structure schematic diagram of the clamping device described in implementation method one；
Fig. 3 is two structural representations of V-type locating clip gripping arm in implementation method one, and filled black part is pressure in figure
Force snesor；
Fig. 4 is the electrical structure schematic diagram of the clamping device described in implementation method one；
Fig. 5 is the operation principle schematic diagram of the control module in implementation method two；
Fig. 6 is the power/position mixing Shared control theory diagram in implementation method two；
Fig. 7 is the power/displacement transfer function relation in implementation method three；
Fig. 8 is the mechanical structure schematic diagram of the hand behaviour's equipment described in implementation method eight, and the figure is side view；
Fig. 9 is the electrical structure schematic diagram of the hand behaviour's equipment described in implementation method eight；
Figure 10 is the operation principle schematic diagram of the control module in implementation method nine；
Figure 11 is the workflow diagram of the control module in implementation method nine.
Specific embodiment
Specific embodiment one：Present embodiment is illustrated with reference to Fig. 1 to Fig. 4, a kind of power/position described in present embodiment is mixed
Closing the clamping device of Shared control includes base plate 1, electric machine support 2,3, encoder 4 of motor, decelerator 5, slide unit 6, two-way
7, two V-type locating clip gripping arms 8 of screw rod, 10, processor of screw bracket, 12, difference/Transistor-Transistor Logic level of drive circuit turn
Change circuit and signal conditioning circuit；
Electric machine support 2 is used to for motor 3 to be fixed on base plate 1, and screw bracket 10 is used to for reverse-flighted screw 7 to be fixed on base plate
On 1, and reverse-flighted screw 7 can be rotatable around its axis, and motor 3 is used to drive reverse-flighted screw 7 to rotate by decelerator 5；
Slide unit 6 is fixed on base plate 1, and the upper surface of slide unit 6 sets fluted, the length direction of the groove and two-way spiral shell
The diameter parallel of bar 7；Two V-type locating clip gripping arms 8 are oppositely arranged, and the clamping face of each V-type locating clip gripping arm 8 is provided with silicon
Rubber is mounted in layer 9, and one of silicon rubber attachment layer 9 and is embedded with pressure sensor；Two V-type locating clip gripping arms 8 respectively with
The two ends threaded connection of reverse-flighted screw 7, the bottom of two V-type locating clip gripping arms 8 is respectively positioned in the groove on slide unit 6, and can
Moved along the length direction of the groove；
A number control signal output for processor connects the control signal input of motor 3, one by drive circuit 12
Number encoder 4 is used to detect the angular displacement of the output shaft of motor 3, and a signal output part for encoder 4 passes through a difference/TTL
Level shifting circuit connects a motor angular displacement signal input for processor, and the CAN interface of a processor is used for
Receiving position instructs and sends force feedback signal, and the detection signal output end of pressure sensor is connected by signal conditioning circuit
A number chucking power feedback signal input terminal for processor.
Clamping device described in present embodiment needs to coordinate manual handling equipment (abbreviation hand grasps equipment) to complete clamping
Action, as shown in figure 1, clamping device is arranged on working site area, manual handling equipment is arranged on remote operation area, clamping device
Connected by fieldbus with manual handling equipment.Manual handling equipment includes 15, No. two encoders 16, magnetic powder brake of handwheel
19 and cog belt 20 etc..Operator rotates handwheel 15, and No. two encoders 16 have recorded the rotation displacement of handwheel 15, rotation displacement letter
Number as clip position instruction be sent in a processor of clamping device by fieldbus.The function of a number processor is
Control V-type locating clip gripping arm 8 moves to the location of instruction, must consider to clamp force feedback information in the process, realizes submissive clamping.
Meanwhile, the pressure information that pressure sensor is detected also is sent to manual handling equipment by a processor by fieldbus
In.The rotating shaft of handwheel 15, whole magnetic powder brake 19 and cog belt 20 constitute transmission mechanism, and manual handling equipment is according to pressure information
The driving current of magnetic powder brake 19 is adjusted, and then adjusts the damping torque on operation handwheel 15, operator is by handwheel
Stressing conditions of the damping torque with regard to energy sensing clamping device.
Reverse-flighted screw in clamping device is the screw rod of the screw thread for having two sections of rotation directions different at, one section of right-handed thread,
One section of left hand thread.In the present embodiment, left and right nut connects two clamping limbs in left and right respectively.When screw rod rotates, two
Clamping limb is with nut rapid advance or separation, so as to complete the holding action for needing.Compared with ball-screw-transmission mode, screw rod
The great advantage of transmission is can self-locking.On the one hand can so prevent the power-off suddenly in clamping from causing the de- of gripped object
Fall, on the other hand when clamping device attitude changes, without considering influence of the clamping limb gravity to clamping.
The structure of V-type locating clip gripping arm is as shown in Figure 3.V-type locating clip gripping arm is by rigid body and silicon rubber attachment layer two parts
Constitute.The embedding pressure sensor in silicon rubber attachment layer.V-type positioning clamping has the advantages that to clamp firm, accurate positioning.Silicon
Rubber attachment layer ensure that the flexible contact of V-type locating clip gripping arm and workpiece, and can eliminate pressure sensor installation process
In prestressing force.
The motor of clamping device can select brush direct current motor, DC brushless motor or AC servo motor etc..Electrically
Partly it is core with a processor, as shown in figure 4, a processor can be realized using single-chip microcomputer, DSP, ARM, FPGA etc., one
The built-in PWM units of number processor connect the control signal input of motor 3, a letter for encoder 4 by drive circuit 12
Number output end connects a built-in counter for processor by a difference/Transistor-Transistor Logic level change-over circuit, and functions are such as
Under：
Timer：Timer starts after system reset, and runs cycle set is 1ms.In Interruption service
In program, closed loop control algorithm is completed；
PWM units：The main generation for completing pulse-width signal, pwm signal is used to the power device of motor major loop
Part, and then change the average voltage for being added in armature, so that motor runs；
Counter：For reading the signal that encoder is sent, a processor is according to the signal and system mechanics gearratio
Example relation, you can obtain the distance between two clamping limbs；
CAN interface：By CAN interface, it is capable of achieving under the parameter setting of clamping device, peripheral operation instruction
Up to and live force feedback passback etc.；The parameter of setting includes power/displacement conversion parameter, chucking power absolute rating, clamping limb
Position limit parameter, expectation chucking power parameter setting etc., the operational order that outside is assigned are clip position instructions；
A/D translation interfaces：By A/D translation interfaces, the pressure sensor signal on clamping limb is by signal condition unit
The incoming processor of force information will be clamped；
GPIO units (universal input output unit)：The unit mainly completes that clamping limb or so is spacing and system mechanics zero-bit
Reading.
Specific embodiment two：With reference to Fig. 5 and Fig. 6 explanation present embodiments, present embodiment is to the institute of implementation method one
A kind of further restriction of the clamping device of the power stated/position mixing Shared control, in present embodiment, a processor is embedded in
Clamping control module, the clamping control module is included with lower unit：
Position command receiving unit：Receiving position is instructed；
Pressure acquisition unit：The pressure signal that collection pressure sensor is sent；
Pressure signal transmitting element：The pressure signal that pressure sensor is sent is sent to hand behaviour's equipment；
Force feedback equivalent displacement obtaining unit：The pressure signal that will be collected using power/displacement transfer function is converted to power
Feedback equivalent displacement；
Clamping limb current location obtaining unit：The signal that a number encoder 4 is sent is converted into clamping limb present bit confidence
Breath；
Offset deviation computing unit：Calculate offset deviation, the offset deviation=position command-force feedback equivalent bit
Shifting-clamping limb current location；
Motor control signal transmitting element：The offset deviation is turned using closed loop control algorithm (such as pid control algorithm)
Motor control signal is changed to, and the motor control signal is sent to drive circuit 12.
The workflow and principle of clamping device are as shown in Figure 5 and Figure 6.The signal of pressure sensor turns through exertin/position
After exchange the letters number is changed into force feedback equivalent displacement, contraposition is installed and is modified surely, and revised position setting is carried out to clamping limb again
Position adjustment, is finally reached new poised state.When pressure signal is larger, corresponding force feedback equivalent displacement is also larger, folder
Width between gripping arm can increase, it is achieved thereby that Shared control.Wherein, power/displacement transfer function can rule of thumb set.
Specific embodiment three：Present embodiment is illustrated with reference to Fig. 7, present embodiment is to described in implementation method two
Plant the further restriction of the clamping device of power/position mixing Shared control, in present embodiment, force feedback equivalent displacement obtaining unit
In power/displacement transfer function be：
Wherein, d is force feedback equivalent displacement, the pressure that f is born by V-type locating clip gripping arm 8, k1、k2And k3Respectively owe
The gain coefficient of pressure clamp area, pressure clamp area and excess pressure clamp area, f0It is the upper pressure limit of under-voltage power clamp area, f1For
The low pressure limit of excess pressure clamp area.The gain segmented power of pressure multidomain treat-ment is above all based on during Shared control
Feedback equivalent displacement method, principle is as shown in Figure 7.Power/proterties of the displacement transfer function generally with gripped object is relevant.Risen for simple
See, power/displacement transfer function is set to the form of piecewise linearity as shown in Figure 7 for we.Wherein, f passes through pressure by processor
Force snesor is obtained.Power/displacement transfer function relation is divided into 3 sections as shown in Figure 7：
1、0≤f≤f0Belong to under-voltage power clamp area, the gain of this scope is k1, gain is relatively low, the pressure in this region
Force feedback equivalent displacement is：
D=k1f,0≤f≤f0
In this region, because clamp pressure is smaller, corresponding force feedback equivalent displacement is also smaller, now feeds back main by compiling
The displacement of code device is determined.
2、f0≤f≤f1Belong to pressure clamp area, the gain of this scope is k2, belonging to medium gain, clamping device can
The work chucking power (i.e. nominal chucking power) of normal clamping object is to be distributed in this region：
D=k1f0+k2(f-f0),f0≤f≤f1
Now the encoder displacement of system is suitable with the weight that force feedback equivalent displacement is shared in feedback, feedback by this two
Individual factor is together decided on.
3、f≥f1Belong to excess pressure clamp area (or being destructive clamp area), the gain of this scope is k3, it is increasing high
Benefit.If clamping device carries out clipping operation with the power of this scope, caught workpiece can be destroyed because chucking power is excessive.For
This, the gain is set to highest by us：
D=k1f0+k2(f1-f0)+k3(f-f1),f≥f2
Now system feedback is mainly determined by force feedback equivalent displacement.
To make clamping device have more preferable adaptability, the key parameter of power/displacement transfer function is gain switching point f0、
f1, and gain coefficient k1、k2、k3Can be input in a processor by serial ports.
Present embodiment is entered using the gain segmented force feedback equivalent displacement method based on pressure multidomain treat-ment to force feedback
Row treatment, is achieved power/position hybrid feedback type Shared control, ensure that flexible clamping from angle is automatically controlled, and have
Preferable operability.
Specific embodiment four：Present embodiment is illustrated with reference to Fig. 5, present embodiment is to described in implementation method two
The further restriction of the clamping device of power/position mixing Shared control is planted, in present embodiment, the clamping control module is also wrapped
Include：
Pressure threshold comparing unit：Whether the pressure signal that judgement is collected is when being in judged result beyond threshold value
Terminate the operation of the clamping control module, pressure threshold comparing unit is restarted when judged result is no.
Pressure threshold can be input in a processor by serial ports.Pressure threshold comparing unit can avoid clamping device
Damaged because chucking power is excessive.
Specific embodiment five：Present embodiment is illustrated with reference to Fig. 5, present embodiment is to described in implementation method two
The further restriction of the clamping device of power/position mixing Shared control is planted, in present embodiment, the clamping control module is also wrapped
Include：
Position threshold comparing unit：Judge clamping limb current location whether beyond clamping according to clamping limb current location information
The position limitation of arm, and be to terminate the operation of the clamping control module, the weight when judged result is no when being in judged result
It is new to start position threshold comparing unit.
Position threshold can be input in a processor by serial ports.Position threshold comparing unit can avoid clamping device
Damaged because displacement is excessive.
Specific embodiment six：Present embodiment is to a kind of power described in implementation method one/position mixing Shared control
The further restriction of clamping device, in present embodiment, the groove that the upper surface of slide unit 6 is set is dovetail groove.
Dovetail groove guide rail has guiding and supporting role to clamping limb, and compared with line slideway, dovetail groove guide rail has more
Big bearing capacity, it is ensured that clamping device can bear larger load；
Specific embodiment seven：Present embodiment is illustrated with reference to Fig. 2, present embodiment is to described in implementation method one
The further restriction of the clamping device of kind of power/position mixing Shared control, in present embodiment, one end of reverse-flighted screw 7 and deceleration
A gear 17 and No. two gears 18 are respectively arranged with the output shaft of device 5, a gear 17 and No. two gears 18 are engaged, and passed
Dynamic ratio is 1.
In present embodiment, decelerator 5 is rotated by two gear driven reverse-flighted screws 7.Gear drive can be protected
Demonstrate,prove the position control accuracy of clamping device.
Specific embodiment eight：With reference to Fig. 8 and Fig. 9 explanation present embodiments, present embodiment is and the institute of implementation method one
Hand behaviour's equipment that a kind of clamping device of the power stated/position mixing Shared control is engaged, hand behaviour's equipment includes handwheel 15, two
Encoder 16, magnetic powder brake 19,22, No. two processors of the gear of gear 21, four of cog belt 20, three, No. two difference/TTL
Level shifting circuit, H bridge drivers 25 and Hall current sensor；
No. three gears 21 are fixed in the rotating shaft of handwheel 15, and No. four gears 22 are fixed on magnetic powder brake 19, No. four teeth
Wheel 22 is used to drive No. three gears 21 to rotate by cog belt 20；
No. two processor No. two encoders 16 are used to detect the angular displacement of the rotating shaft of handwheel 15, No. two signals of encoder 16
Output end connects No. two handwheel angular displacement signal inputs of processor by No. two difference/Transistor-Transistor Logic level change-over circuit, at No. two
The control signal output for managing device connects the control signal input of magnetic powder brake 19, Hall current by H bridge drivers 25
Sensor is used to detect the driving current of magnetic powder brake 19, the current detection signal output end connection two of Hall current sensor
The current feedback signal input of number processor, No. two CAN interfaces of processor are used to send position command and reception
Force feedback signal.
When in use, operator rotates handwheel 15, No. two (No. two codings of encoder 16 to hand behaviour equipment described in present embodiment
Device is realized using photoelectric encoder) rotation displacement of handwheel 15 is have recorded, the signal passes through CAN as clip position instruction
It is sent in clamping device；On the other hand, No. two processors by CAN receive clamping limb on pressure information, and by it
The controlled quentity controlled variable of magnetic powder brake 19 is changed into, pressure is bigger on clamping limb, the damping torque of corresponding magnetic powder brake 19 is also got over
Greatly.Operator, by experiencing the change of damping torque, will appreciate that the pressure condition on clamping limb in turn handwheel 15.
The maximum feature of hand behaviour's equipment is the performer controlled as damping torque using magnetic powder brake.Above-mentioned hand
Magnetic powder brake 19 in dynamic operation equipment is the core devices of force feedback manual handling equipment, and its major function is according to clamping
The situation of device force feedback, produces corresponding damping torque in the rotating shaft of handwheel 15.Some passive control type hand behaviour force feedbacks
Using spring as performer, the shortcoming of spring is dumb, and elastic force scope is difficult to change, and needs extra lock for mechanism
Determine device；Some active control type hands behaviour carries out force-feedback control using motor, and motor needs to be operated in Torque Control state, because
This is also required to extra locking device offer trimming moment makes handwheel be in dynamic balance state.Therefore, magnetic powder brake is more fitted
Together in this operating mode, because magnetic powder brake provides damping torque all the time.
Magnetic powder brake is to transmit damping torque according to electromagnetic principle and using magnetic, in the case where same slippage is unrelated
Certain torque can be transmitted, with fast response time, simple structure is pollution-free, noiselessness, the advantages of without impact shock.Its
Maximum the characteristics of is its exciting curent linear relationship into basic with damping torque, and present embodiment utilizes this feature, by adjusting
The exciting curent of magnetic powder brake is saved, and then adjusts the damping torque of magnetic powder brake.
The characteristic curve of magnetic powder brake shows, driving current and output damping torque are into approximate proportionate relationship.It is i.e. smart
Really the electric current in control magnetic powder brake loop can make the damping torque continuously adjustabe on hand wheel shaft.In order that on magnetic powder brake
Electric current it is accurately adjustable, closed loop force-feedback control link is devised in manual handling equipment.
It is core that hand grasps equipment with No. two processors, and No. two processors can be realized using single-chip microcomputer, DSP, ARM, FPGA etc.,
Each unit tool function is as follows：
Timer：Timer starts after system reset, and runs cycle set is 1ms, in Interruption service
In program, the closed-loop current control that magnetic powder brake drives is completed；
PWM units：The main generation for completing pulse-width signal, pwm signal is used to drive the work(of major loop (H-bridge circuit)
Rate device, and then the average current being added on magnetic powder brake is adjusted, so that magnetic powder brake produces the damping torque for needing；
Counter：By the reading to the code device signal on handwheel, you can obtain clip position operation information, that is, obtain
Clip position control instruction information；
CAN interface：By CAN interface, it is capable of achieving to carry out place retention device parameter setting, to scene
Passback of clamping device input clamping position control instruction and the live force feedback of reception etc., the parameter of setting includes：Power/position
Move conversion parameter, chucking power absolute rating, clamping limb position absolute rating etc.；
A/D translation interfaces：By A/D translation interfaces, Hall current sensor signal can be obtained, this signal is used for magnetic
The feedback of the current control of brake；
GPIO units (universal input output unit)：The unit is connected with toggle switch, main to complete remote grip operation
Coarse-fine regulation and control system, detailed process is as follows, when toggle switch is transferred to coarse adjustment gear, the counting of No. two encoders is multiplied by into 10,
Export again to clamping device；When toggle switch is transferred to accurate adjustment gear, directly the count value of No. two encoders is exported to clamping
Device, facilitates remote operation to greatest extent.
Specific embodiment nine：With reference to Figure 10 and Figure 11 explanation present embodiments, present embodiment is to implementation method eight
Described hand grasps the further restriction of equipment, and in present embodiment, No. two described processors are embedded in manual control module, institute
Stating manual control module is included with lower unit：
Position command transmitting element：The signal that No. two encoders 16 are sent is converted into two positions of V-type locating clip gripping arm 8
Instruction is put, and the position command is sent to clamping device；
Pressure signal receiving unit：The pressure signal that receiving and clamping device is sent, the pressure signal is damping torque
Instruction；
Equivalent damping torque obtaining unit：The current signal that collection Hall current sensor is sent, and according to magnetic powders brake
The current signal is converted to equivalent damping torque by the electric current of device 19-damping torque relation curve；
Torque deviation computing unit：Calculate torque drift gage, the torque deviation meter=damping torque instruction-equivalent resistance
Buddhist nun's torque；
Magnetic powder brake control signal transmitting element：Using closed loop control algorithm (such as pid control algorithm) by the torque
Deviation is converted to magnetic powder brake control signal, and the magnetic powder brake control signal is sent into H bridge drivers 25.
The workflow and principle of hand behaviour's equipment are as shown in Figure 10 and Figure 11.The force feedback of hand behaviour's equipment is by adjusting magnetic
Damping torque control realization on powder brake.The regulation process of damping torque is as follows：The folder that place retention device is sent
Holding pressure signal carries out ratio treatment, and this data (is detected with the equivalent damping torque for feeding back with Hall current sensor
The corresponding damping torque of signal) make comparisons, deviation signal is sent to PWM units, PWM units again to H bridge driver sending signals,
H bridge drivers adjust the excitation voltage of magnetic powder brake, and then control the damping torque of magnetic powder brake.Hall current sensor
Value can Approximate Equivalent for magnetic powder brake damping torque signal, feed back to No. two controllers.Here with magnetic powders brake
The characteristics of device exciting curent and damping torque into basic linear relationship.In Figure 11, I represents energizing loop electric current, and T represents magnetic
Brake exports damping torque, and Te represents that the relation of I and Te is by magnetic powder brake characteristic by exciting curent equivalent damping torque
Curve decision, is approximately linear relationship.
Specific embodiment ten：Present embodiment is the control method of the clamping device described in implementation method one, the side
Method is realized by the software being embedded in a processor, the described method comprises the following steps：
Position command receiving step：Receiving position is instructed；
Pressure acquisition step：The pressure signal that collection pressure sensor is sent；
Pressure signal forwarding step：The pressure signal that pressure sensor is sent is sent to hand behaviour's equipment；
Force feedback equivalent displacement obtains step：The pressure signal that will be collected using power/displacement transfer function is converted to power
Feedback equivalent displacement；
Clamping limb current location obtains step：The signal that a number encoder 4 is sent is converted into clamping limb present bit confidence
Breath；
Offset deviation calculation procedure：Calculate offset deviation, the offset deviation=position command-force feedback equivalent bit
Shifting-clamping limb current location；
Motor control signal forwarding step：The offset deviation is turned using closed loop control algorithm (such as pid control algorithm)
Motor control signal is changed to, and the motor control signal is sent to drive circuit 12.
Specific embodiment 11：Present embodiment is illustrated with reference to Fig. 7, present embodiment is to described in implementation method ten
The further restriction of control method, in present embodiment, force feedback equivalent displacement obtains the power/displacement transfer function in step
For：
Wherein, d is force feedback equivalent displacement, the pressure that f is born by V-type locating clip gripping arm 8, k1、k2And k3Respectively owe
The gain coefficient of pressure clamp area, pressure clamp area and excess pressure clamp area, f0It is the upper pressure limit of under-voltage power clamp area, f1For
The low pressure limit of excess pressure clamp area.The gain segmented power of pressure multidomain treat-ment is above all based on during Shared control
Feedback equivalent displacement method, principle is as shown in Figure 7.Power/proterties of the displacement transfer function generally with gripped object is relevant.Risen for simple
See, power/displacement transfer function is set to the form of piecewise linearity as shown in Figure 7 for we.Wherein, f passes through pressure by processor
Force snesor is obtained.Power/displacement transfer function relation is divided into 3 sections as shown in Figure 7：
1、0≤f≤f0Belong to under-voltage power clamp area, the gain of this scope is k1, gain is relatively low, the pressure in this region
Force feedback equivalent displacement is：
D=k1f,0≤f≤f0
In this region, because clamp pressure is smaller, corresponding force feedback equivalent displacement is also smaller, now feeds back main by compiling
The displacement of code device is determined.
2、f0≤f≤f1Belong to pressure clamp area, the gain of this scope is k2, belonging to medium gain, clamping device can
The work chucking power (i.e. nominal chucking power) of normal clamping object is to be distributed in this region：
D=k1f0+k2(f-f0),f0≤f≤f1
Now the encoder displacement of system is suitable with the weight that force feedback equivalent displacement is shared in feedback, feedback by this two
Individual factor is together decided on.
3、f≥f1Belong to excess pressure clamp area (or being destructive clamp area), the gain of this scope is k3, it is increasing high
Benefit.If clamping device carries out clipping operation with the power of this scope, caught workpiece can be destroyed because chucking power is excessive.For
This, the gain is set to highest by us：
D=k1f0+k2(f1-f0)+k3(f-f1),f≥f2
Now system feedback is mainly determined by force feedback equivalent displacement.
To make clamping device have more preferable adaptability, the key parameter of power/displacement transfer function is gain switching point f0、
f1, and gain coefficient k1、k2、k3Can be input in a processor by serial ports.
Specific embodiment 12：Present embodiment is the further restriction to the control method described in implementation method ten,
In present embodiment, the control method also includes：
Pressure threshold comparison step：Whether the pressure signal that judgement is collected is when being in judged result beyond threshold value
Terminate methods described, pressure threshold comparison step is re-executed when judged result is no.
Pressure threshold can be input in a processor by serial ports.Pressure threshold comparison step can avoid clamping device
Damaged because chucking power is excessive.
Specific embodiment 13：Present embodiment is the further restriction to the control method described in implementation method ten,
In present embodiment, the control method also includes：
Position threshold comparison step：Judge clamping limb current location whether beyond clamping according to clamping limb current location information
The position limitation of arm, and re-execute position threshold when judged result is no to terminate methods described when being in judged result
Comparison step.
Position threshold can be input in a processor by serial ports.Position threshold comparing unit can avoid clamping device
Damaged because displacement is excessive.
Specific embodiment 14：Present embodiment is the control method of the hand behaviour's equipment described in implementation method eight, described
Method is realized by the software being embedded in No. two processors, the described method comprises the following steps：
Position command forwarding step：The signal that No. two encoders 16 are sent is converted into two positions of V-type locating clip gripping arm 8
Instruction is put, and the position command is sent to clamping device；
Pressure signal receiving step：The pressure signal that receiving and clamping device is sent, the pressure signal is damping torque
Instruction；
Equivalent damping torque obtains step：The current signal that collection Hall current sensor is sent, and according to magnetic powders brake
The current signal is converted to equivalent damping torque by the electric current of device 19-damping torque relation curve；
Torque deviation calculation procedure：Calculate torque drift gage, the torque deviation meter=damping torque instruction-equivalent resistance
Buddhist nun's torque；
Magnetic powder brake control signal forwarding step：Using closed loop control algorithm (such as pid control algorithm) by the torque
Deviation is converted to magnetic powder brake control signal, and the magnetic powder brake control signal is sent into H bridge drivers 25.
Claims (9)
1. a kind of clamping device of power/position mixing Shared control, the clamping device includes base plate (1), electric machine support (2), motor
(3), encoder (4), decelerator (5), slide unit (6), reverse-flighted screw (7), two V-type locating clips gripping arm (8), a screw brackets
(10), processor, drive circuit (12), a difference/Transistor-Transistor Logic level change-over circuit and a signal conditioning circuit；
, for motor (3) to be fixed on into base plate (1), screw bracket (10) is for fixed by reverse-flighted screw (7) for electric machine support (2)
On base plate (1), and reverse-flighted screw (7) can be rotatable around its axis, and motor (3) by decelerator (5) for driving two-way spiral shell
Bar (7) is rotated；
Slide unit (6) is fixed on base plate (1), and slide unit (6) upper surface set it is fluted, the length direction of the groove with it is two-way
The diameter parallel of screw rod (7)；Two V-type locating clips gripping arm (8) are oppositely arranged, and the clamping face of each V-type locating clip gripping arm (8) is equal
It is provided with silicon rubber and mounts layer (9), and one of silicon rubber is mounted in layer (9) and is embedded with pressure sensor；Two V-type locating clips
Two ends of the gripping arm (8) respectively with reverse-flighted screw (7) are threadedly coupled, and the bottom of two V-type locating clips gripping arm (8) is respectively positioned on slide unit
(6) in the groove on, and can be moved along the length direction of the groove；
A number control signal output for processor connects the control signal input of motor (3), one by drive circuit (12)
, for detecting the angular displacement of motor (3) output shaft, a signal output part for encoder (4) passes through a difference for number encoder (4)
Divide/Transistor-Transistor Logic level change-over circuit number motor angular displacement signal an input for processor of connection, the CAN of a processor connects
Mouth instructs and sends force feedback signal for receiving position, and the detection signal output end of pressure sensor is by signal condition electricity
Road connects a chucking power feedback signal input terminal for processor；
Characterized in that, a processor is embedded in clamping control module, the clamping control module is included with lower unit：
Position command receiving unit：Receiving position is instructed；
Pressure acquisition unit：The pressure signal that collection pressure sensor is sent；
Pressure signal transmitting element：The pressure signal that pressure sensor is sent is sent to hand behaviour's equipment；
Force feedback equivalent displacement obtaining unit：The pressure signal that will be collected using power/displacement transfer function is converted to force feedback
Equivalent displacement；
Clamping limb current location obtaining unit：The signal that a number encoder (4) is sent is converted into clamping limb current location information；
Offset deviation computing unit：Calculate offset deviation, the offset deviation=position command-force feedback equivalent displacement-folder
Gripping arm current location；
Motor control signal transmitting element：The offset deviation is converted into motor control signal using closed loop control algorithm, and
The motor control signal is sent to drive circuit (12).
2. a kind of clamping device of power according to claim 1/position mixing Shared control, it is characterised in that force feedback etc.
Effect displacement obtaining unit in power/displacement transfer function be：
Wherein, d is force feedback equivalent displacement, the pressure that f is born by V-type locating clip gripping arm (8), k1、k2And k3It is respectively under-voltage
The gain coefficient of power clamp area, pressure clamp area and excess pressure clamp area, f0It is the upper pressure limit of under-voltage power clamp area, f1It is mistake
The low pressure limit of pressure clamp area.
3. a kind of clamping device of power according to claim 1/position mixing Shared control, it is characterised in that the clamping
Control module also includes：
Pressure threshold comparing unit：Whether the pressure signal that judgement is collected terminates beyond threshold value when judged result is and is
The operation of the clamping control module, pressure threshold comparing unit is restarted when judged result is no.
4. a kind of clamping device of power according to claim 1/position mixing Shared control, it is characterised in that the clamping
Control module also includes：
Position threshold comparing unit：Judge clamping limb current location whether beyond clamping limb according to clamping limb current location information
Position limitation, and be to terminate the operation of the clamping control module when being in judged result, opened again when judged result is no
Dynamic position threshold comparing unit.
5. the clamping device of a kind of power according to claim 1/position mixing Shared control, it is characterised in that on slide unit (6)
The groove that surface is set is dovetail groove.
6. hand grasps equipment, it is characterised in that hand behaviour's equipment includes handwheel (15), No. two encoders (16), magnetic powder brakes
(19), cog belt (20), No. three gears (21), No. four gears (22), No. two processors, No. two difference/Transistor-Transistor Logic level conversion electricity
Road, H bridge drivers (25) and Hall current sensor；
No. three gears (21) are fixed in the rotating shaft of handwheel (15), and No. four gears (22) are fixed on magnetic powder brake (19), and four
Number gear (22) by cog belt (20) for driving No. three gears (21) to rotate；
No. two processor No. two encoders (16) are for detecting the angular displacement of handwheel (15) rotating shaft, No. two letters of encoder (16)
Number output end connects No. two handwheel angular displacement signal inputs of processor, No. two by No. two difference/Transistor-Transistor Logic level change-over circuit
The control signal output of processor connects the control signal input of magnetic powder brake (19) by H bridge drivers (25), suddenly
Your current sensor is used to detect the driving current of magnetic powder brake (19), the current detection signal output of Hall current sensor
No. two current feedback signal inputs of processor of end connection, No. two CAN interfaces of processor are used to send position command
And receive force feedback signal.
7. hand according to claim 6 grasps equipment, it is characterised in that No. two described processors are embedded in manual control mould
Block, the manual control module is included with lower unit：
Position command transmitting element：The signal that No. two encoders (16) are sent is converted into two positions of V-type locating clip gripping arm (8)
Instruction is put, and the position command is sent to clamping device；
Pressure signal receiving unit：The pressure signal that receiving and clamping device is sent, the pressure signal is damping torque instruction；
Equivalent damping torque obtaining unit：The current signal that collection Hall current sensor is sent, and according to magnetic powder brake
(19) current signal is converted to equivalent damping torque by electric current-damping torque relation curve；
Torque deviation computing unit：Calculate torque drift gage, the torque deviation meter=damping torque instruction-equivalent damping power
Square；
Magnetic powder brake control signal transmitting element：The torque deviation is converted into magnetic powder brake using closed loop control algorithm
Control signal, and the magnetic powder brake control signal is sent to H bridge drivers (25).
8. a kind of control method of the clamping device of the power described in claim 1/position mixing Shared control, it is characterised in that institute
State software of the method by being embedded in a processor to realize, the described method comprises the following steps：
Position command receiving step：Receiving position is instructed；
Pressure acquisition step：The pressure signal that collection pressure sensor is sent；
Pressure signal forwarding step：The pressure signal that pressure sensor is sent is sent to hand behaviour's equipment；
Force feedback equivalent displacement obtains step：The pressure signal that will be collected using power/displacement transfer function is converted to force feedback
Equivalent displacement；
Clamping limb current location obtains step：The signal that a number encoder (4) is sent is converted into clamping limb current location information；
Offset deviation calculation procedure：Calculate offset deviation, the offset deviation=position command-force feedback equivalent displacement-folder
Gripping arm current location；
Motor control signal forwarding step：The offset deviation is converted into motor control signal using closed loop control algorithm, and
The motor control signal is sent to drive circuit (12).
9. the hand described in claim 6 grasps the control method of equipment, it is characterised in that methods described is by being embedded in No. two processors
Interior software is realized, the described method comprises the following steps：
Position command forwarding step：The signal that No. two encoders (16) are sent is converted into two positions of V-type locating clip gripping arm (8)
Instruction is put, and the position command is sent to clamping device；
Pressure signal receiving step：The pressure signal that receiving and clamping device is sent, the pressure signal is damping torque instruction；
Equivalent damping torque obtains step：The current signal that collection Hall current sensor is sent, and according to magnetic powder brake
(19) current signal is converted to equivalent damping torque by electric current-damping torque relation curve；
Torque deviation calculation procedure：Calculate torque drift gage, the torque deviation meter=damping torque instruction-equivalent damping power
Square；
Magnetic powder brake control signal forwarding step：The torque deviation is converted into magnetic powder brake using closed loop control algorithm
Control signal, and the magnetic powder brake control signal is sent to H bridge drivers (25).
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| CN201610104979.6A CN105563502B (en) | 2016-02-25 | 2016-02-25 | A kind of control method of the clamping device, hand behaviour's equipment and clamping device and hand behaviour's equipment of power/position mixing Shared control |
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| CN201610104979.6A CN105563502B (en) | 2016-02-25 | 2016-02-25 | A kind of control method of the clamping device, hand behaviour's equipment and clamping device and hand behaviour's equipment of power/position mixing Shared control |
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| CN105785911B (en) * | 2016-03-11 | 2018-04-03 | 渤海大学 | A kind of Manual pulse generator control system |
| CN106335057B (en) * | 2016-09-27 | 2018-12-28 | 东南大学 | A kind of submissive jack control method of the people's total space that puts together machines based on real-time force control |
| CN106737845B (en) * | 2017-03-09 | 2023-09-29 | 中国南方电网有限责任公司超高压输电公司梧州局 | Multifunctional rotating shaft structure of ultrahigh voltage direct current transmission line insulator detection robot |
| CN106956285A (en) * | 2017-05-04 | 2017-07-18 | 支新华 | One kind operation automatic manipulator |
| CN107102657B (en) * | 2017-05-25 | 2022-12-23 | 广东省科学院智能制造研究所 | Active flexible force control equipment |
| JP6881268B2 (en) * | 2017-12-05 | 2021-06-02 | トヨタ自動車株式会社 | Gripping device, grip determination method and grip determination program |
| TWI692388B (en) * | 2019-05-10 | 2020-05-01 | 東佑達自動化科技股份有限公司 | Fixture device |
| CN110640732B (en) * | 2019-09-30 | 2022-10-11 | 佛山科学技术学院 | Self-adaptive grabbing method of flexible gripper |
| CN111098309A (en) * | 2020-01-06 | 2020-05-05 | 江南大学 | Hybrid control method, device and system for mechanical arm |
| CN112472299B (en) * | 2020-11-30 | 2024-03-12 | 重庆邮电大学 | Main hand clamping device applied to human feedback equipment |
| CN113927602B (en) * | 2021-11-12 | 2023-03-17 | 哈尔滨工业大学（深圳） | Robot precision assembly control method and system based on visual and tactile fusion |
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| US5116180A (en) * | 1988-07-18 | 1992-05-26 | Spar Aerospace Limited | Human-in-the-loop machine control loop |
| US5004391A (en) * | 1989-08-21 | 1991-04-02 | Rutgers University | Portable dextrous force feedback master for robot telemanipulation |
| US8945095B2 (en) * | 2005-03-30 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Force and torque sensing for surgical instruments |
| CN102848391A (en) * | 2012-09-20 | 2013-01-02 | 北京邮电大学 | Four-channel bilateral teleoperation control system based on actual force feedback |
| JP2014108466A (en) * | 2012-11-30 | 2014-06-12 | Fanuc Ltd | Electric hand with force sensor |
| CN103386690B (en) * | 2013-07-22 | 2015-06-03 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
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